Evaluation metrics.
To evaluate the global descriptor performance we follow similar evaluation protocol as in other point cloud-based or radar-based place recognition works [1]}.
Each evaluation set is split into two parts: a query and a database set, covering the same geographic area.
A query is formed from sensor readings acquired during one traversal and the database is build from data gathered during a different traversal, on a different day.
For each query element we find database element with closests, in Euclidean distance sense, global descriptors.
Localization is successful if at least one of the top \(N\)  retrieved database elements is within \(d\)  meters
from the query ground truth position.
Recall@N is defined as the percentage of correctly localized queries.
